234 citations · 449 across the 21 of their papers we have counts for
6 papers · 1 filter
D-Lite: Navigation-Oriented Compression of 3D Scene Graphs for Multi-Robot Collaboration
Yun Chang, Luca Ballotta, Luca Carlone
For a multi-robot team that collaboratively explores an unknown environment, it is of vital importance that collected information is efficiently shared among robots in order to sup…
Present and Future of SLAM in Extreme Underground Environments
Kamak Ebadi, Lukas Bernreiter, Harel Biggie +28
This paper reports on the state of the art in underground SLAM by discussing different SLAM strategies and results across six teams that participated in the three-year-long SubT co…
LOCUS 2.0: Robust and Computationally Efficient Lidar Odometry for Real-Time Underground 3D Mapping
Andrzej Reinke, Matteo Palieri, Benjamin Morrell +4
Lidar odometry has attracted considerable attention as a robust localization method for autonomous robots operating in complex GNSS-denied environments. However, achieving reliable…
LAMP 2.0: A Robust Multi-Robot SLAM System for Operation in Challenging Large-Scale Underground Environments
Yun Chang, Kamak Ebadi, Christopher E. Denniston +9
Search and rescue with a team of heterogeneous mobile robots in unknown and large-scale underground environments requires high-precision localization and mapping. This crucial requ…
Loop Closure Prioritization for Efficient and Scalable Multi-Robot SLAM
Christopher E. Denniston, Yun Chang, Andrzej Reinke +5
Multi-robot SLAM systems in GPS-denied environments require loop closures to maintain a drift-free centralized map. With an increasing number of robots and size of the environment,…
Hydra: A Real-time Spatial Perception System for 3D Scene Graph Construction and Optimization
Nathan Hughes, Yun Chang, Luca Carlone
3D scene graphs have recently emerged as a powerful high-level representation of 3D environments. A 3D scene graph describes the environment as a layered graph where nodes represen…